version: 66.14
glider: 194
mission: 12
dive: 648
start: 3 2 118 8 7 11
data:
$ID,194
$MISSION,12
$DIVE,648
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,90
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59218
$MASS_COMP,3867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,20
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,3153
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.1
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2082
$C_ROLL_CLIMB,2082
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,375
$VBD_MAX,3900
$C_VBD,2065
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,1
$CF8_MAXERRORS,20
$AH0_24V,142
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-56.168804
$PRESSURE_SLOPE,0.0001158091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.223
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043142368
$SEABIRD_T_H,0.00062992517
$SEABIRD_T_I,2.3677077e-05
$SEABIRD_T_J,2.5192039e-06
$SEABIRD_C_G,-10.019496
$SEABIRD_C_H,1.1237694
$SEABIRD_C_I,-0.0014884615
$SEABIRD_C_J,0.00020148222
$SEABIRD_C_Z,2989.49
$GPS1,020318,080049,4737.7842,-12255.5137,5,0.8,39,16.4,0.0,0.0,10,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.98
$_SM_ANGLEo,-68.9
$GPS2,020318,080625,4737.7871,-12255.5068,5,0.8,14,16.4,0.0,214.3,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$TGT_LATLONG,4738.117,-12254.800
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.288867,-0.148510
$KALMAN_X,34651.437500,518.190002,-280.221558,-35416.792969,662.479614
$KALMAN_Y,12811.416016,296.136719,-399.748138,-13361.724609,330.277039
$MHEAD_RNG_PITCHd_Wd,39.4,1074,-14.2,-10.000,-18.11,3210
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-0.83,-212.3,205,2073,367,368,0.0,0.0,0,17,0.00,0.00,-6.43,0.000,16386,0.000,0.000,205,2073,536,530,542,0,0,0,0,0,0,26.42,28.83,26.43,8.06,41.25
$GC,20,-0.83,-212.3,205,2073,530,542,17.1,0.0,1,151,10.90,2.17,-111.43,0.000,19204,0.230,0.052,2882,692,2930,2995,2866,0,0,0,0,0,0,25.39,25.41,25.70,8.07,40.74
$GC,298,-0.70,-212.3,2882,691,2995,2866,46.3,-17.5,38,306,0.15,2.08,0.00,0.000,3078,0.161,0.026,2928,2076,2931,2995,2867,0,0,0,0,0,0,25.73,26.12,25.91,8.27,40.94
$GC,425,-0.63,-212.3,2927,2076,2995,2866,66.0,-14.9,51,430,0.00,2.20,0.00,0.000,260,0.000,0.042,2928,3481,2930,2995,2866,0,0,0,0,0,0,26.58,26.04,26.60,8.28,42.12
$GC,478,-0.63,-212.3,2927,3480,2995,2866,73.8,-14.4,56,487,0.00,2.08,0.00,0.000,1030,0.000,0.022,2928,2084,2931,2996,2866,0,0,0,0,0,0,26.30,26.23,26.33,8.29,42.16
$GC,609,-0.57,-212.3,2927,2084,2995,2866,92.3,-14.0,69,614,0.10,2.17,0.00,0.000,2564,0.160,0.037,2965,679,2930,2995,2866,0,0,0,0,0,0,26.10,26.13,26.15,8.29,41.88
$GC,645,-0.57,-212.3,2964,679,2995,2866,96.8,-13.6,72,652,0.00,2.10,0.00,0.000,1030,0.000,0.025,2964,2091,2930,2995,2866,0,0,0,0,0,0,26.30,26.22,26.33,8.29,42.47
$GC,772,-0.57,-212.3,2964,2091,2995,2866,111.4,-11.6,85,777,0.00,2.15,0.00,0.000,260,0.000,0.042,2965,3470,2930,2994,2866,0,0,0,0,0,0,26.66,26.11,26.67,8.30,42.75
$GC,826,-0.57,-212.3,2964,3470,2995,2866,117.0,-10.6,90,835,0.00,2.05,0.00,0.000,1030,0.000,0.023,2965,2081,2930,2995,2866,0,0,0,0,0,0,26.33,26.30,26.36,8.30,42.20
$GC,1015,-0.57,-212.3,2964,2081,2995,2866,137.0,-10.3,109,1024,0.00,2.17,0.00,0.000,516,0.000,0.039,2965,682,2930,2995,2866,0,0,0,0,0,0,26.70,26.20,26.71,8.31,42.83
$GC,1060,-0.57,-212.3,2964,682,2995,2866,141.6,-10.8,113,1067,0.00,2.08,0.00,0.000,1030,0.000,0.025,2964,2084,2930,2995,2866,0,0,0,0,0,0,26.36,26.28,26.39,8.32,42.24
$GC,1247,-0.57,-212.3,2964,2084,2996,2866,161.4,-10.0,132,1256,0.00,2.15,0.00,0.000,260,0.000,0.041,2965,3471,2930,2995,2866,0,0,0,0,0,0,26.73,26.16,26.74,8.32,42.67
$GC,1292,-0.57,-212.3,2964,3470,2995,2866,165.6,-10.2,136,1299,0.00,2.05,0.00,0.000,1030,0.000,0.022,2964,2076,2930,2995,2866,0,0,0,0,0,0,26.42,26.35,26.45,8.32,42.83
$STATE,1347,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1347,begin apogee
$GC,1353,-0.22,0.0,2964,2076,2995,2866,171.8,-10.4,142,1532,0.30,0.00,174.82,0.757,10246,0.116,0.000,3077,2076,2064,2112,2017,0,0,0,0,0,0,25.96,24.73,23.99,8.32,42.24
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1536,0.83,212.3,3076,2075,2111,2016,181.4,0.0,160,1721,0.95,0.00,175.60,0.731,10502,0.098,0.000,3390,2075,1197,1266,1129,0,0,0,0,0,0,24.86,24.39,23.70,8.26,41.21
$GC,1900,1.00,309.2,3389,2075,1265,1128,162.2,6.9,197,1989,0.15,2.25,79.68,0.715,10756,0.063,0.041,3485,691,802,855,750,0,0,0,0,0,0,25.75,24.89,24.09,8.20,40.82
$GC,2112,1.00,309.2,3484,691,854,750,136.1,13.1,218,2121,0.00,2.12,0.00,0.000,1030,0.000,0.024,3485,2085,801,853,750,0,0,0,0,0,0,25.79,25.72,25.81,8.16,41.33
$GC,2302,1.00,309.2,3484,2085,853,750,111.9,12.6,237,2306,0.00,2.20,0.00,0.000,516,0.000,0.041,3485,691,802,854,750,0,0,0,0,0,0,26.32,25.90,26.32,8.16,41.49
$GC,2387,1.00,309.2,3484,691,853,750,101.0,13.4,245,2393,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2082,802,854,750,0,0,0,0,0,0,26.13,26.06,26.15,8.16,41.41
$GC,2574,1.00,309.2,3484,2083,853,750,77.7,11.6,264,2578,0.00,2.20,0.00,0.000,516,0.000,0.041,3485,693,801,853,750,0,0,0,0,0,0,26.50,26.05,26.51,8.16,41.77
$GC,2639,1.00,309.2,3484,693,853,750,70.5,11.5,270,2646,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2089,801,853,749,0,0,0,0,0,0,26.25,26.18,26.27,8.15,41.17
$GC,2766,1.00,309.2,3484,2089,853,750,55.0,11.9,283,2771,0.00,2.17,0.00,0.000,516,0.000,0.041,3485,693,801,853,750,0,0,0,0,0,0,26.57,26.11,26.58,8.15,42.00
$GC,2820,1.00,309.2,3484,693,853,750,49.0,11.1,288,2825,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2074,802,854,750,0,0,0,0,0,0,26.27,26.22,26.29,8.14,41.14
$GC,2953,1.00,309.2,3484,2075,853,750,34.9,9.5,301,2957,0.00,2.15,0.00,0.000,260,0.000,0.037,3485,3480,801,853,750,0,0,0,0,0,0,26.63,26.15,26.63,8.14,41.21
$GC,3015,1.00,309.2,3484,3480,853,750,28.7,10.0,307,3020,0.00,2.08,0.00,0.000,1030,0.000,0.023,3485,2098,801,853,750,0,0,0,0,0,0,26.35,26.29,26.37,8.13,41.06
$GC,3144,1.11,422.8,3484,2098,853,750,18.5,6.4,321,3206,0.00,2.30,54.67,0.529,8708,0.000,0.040,3485,680,372,364,381,0,0,0,0,0,0,26.66,25.52,24.82,8.12,41.88
$GC,3276,1.67,750.9,3484,680,364,378,16.1,-0.5,344,3284,0.50,2.12,0.00,0.000,3078,0.055,0.024,3681,2102,371,364,378,0,0,0,0,0,0,25.82,25.89,25.91,8.08,40.90
$STATE,3326,end climb,NO_VERTICAL_VELOCITY
$STATE,3326,begin surface
$SM_CCo,3655,0.00,0.000,0,0,368,416.27
$SM_GC,17.09,9.27,0.00,0.00,0.042,0.000,0.000,211,2103,368,-9.13,0.59,416.27,0,0,0,0,0,0,26.01,26.51,26.10
$IRIDIUM_FIX,4737.46,-12258.89,020318,065451
$TT8_MAMPS,0.026215,0.274134
$HUMID,42.36
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,100.2,86.1
$24V_AH,23.70,55.689
$10V_AH,10.07,19.682
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.325,51.275,484.775,0.000,0.000,0.000,0.000,236.200,1.250,0.000,15.743,857.259,1551.158,548.618,921.154,141.883,0.000,1253.803,0.000,685.555,0.000,10.491,0.000
$DEVICE_MAMPS,229.500,52.020,756.585,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.740,466.187,470.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,24486,353
$CAP_FILE_SIZE,58365,0
$CFSIZE,2097872896,2026995712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,234.57,1
$GPS,020318,090902,4737.906,-12255.102,5,0.8,15,16.4,0.0,22.1,10,4.8